CN111235031A - Smart semen optimization system - Google Patents

Abstract

The invention provides an intelligent semen optimization system, which relates to the field of reproductive medicine equipment. It includes a centrifugal device, and also includes a suction loading and unloading system, a precise liquid supply device and a liquid suction device corresponding to the workstations of the centrifugal device; the suction loading and unloading system includes The semen bottle supply device, the test tube supply device to be loaded, the unloaded test tube conveying device and the suction loading and unloading robotic arm running along the suction loading and unloading track, the suction loading and unloading robotic arm is used to quantitatively suction the semen in the semen bottle to the Put the test tube into the test tube, and transport the test tube to be loaded to the station of the centrifuge device, or transport the centrifuged test tube to the unloaded test tube transport device; the precise liquid supply device is used to quantitatively inject liquid into the test tube to be loaded; liquid suction device Used to aspirate the supernatant from the preset height in the test tube. The invention can realize automatic proportioning of semen and liquid, realize automatic loading and unloading of test tubes, and greatly improve efficiency.

Description

Smart semen optimization system

technical field

The invention relates to the field of reproductive medicine equipment, in particular to an intelligent semen optimization system.

Background technique

For patients undergoing artificial insemination or in vitro fertilization and embryo transfer technology, the spouse's semen needs to be washed and optimized to remove impurities such as seminal plasma, immobile sperm, and white blood cells, and to extract sperm with good motility and high quality for fertilization.

Defects in the prior art: at present, no matter which method is adopted to carry out semen washing optimization, it is all manual operation, and the manual operation has the following limitations:

1. Repeating the same operation, the workload is large, the time is long, and the efficiency is low. For example, a center washes about 30 people every day to optimize the semen. It needs at least 2 people to repeat the same operation process every day, and it takes at least one whole morning to complete.

2. Errors are prone to occur during repeated operations, such as misunderstanding of patient names and semen. In order to prevent the above mistakes in clinical practice, double check is adopted, that is, there is always a person next to check the name in the process of washing the semen.

3. In the current manual operation, the amount of washed semen and various washing solutions added cannot be accurately quantified, resulting in inaccurate calculation of the semen concentration after washing. It is necessary to re-evaluate and then adjust the washed semen concentration for fertilization.

4. There is also a scheme of adding negative pressure adsorption equipment, but it is difficult to ensure the accuracy of the amount added in this scheme.

See the corresponding automation equipment in the prior art.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide an intelligent semen optimization system, which can realize the automatic configuration of semen and liquid, can ensure the accurate ratio of semen and liquid, and can realize the automatic loading and unloading of test tubes for centrifugal operation of test tubes.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is: an intelligent semen optimization system, including a centrifugal device, and also includes a suction loading and unloading system, a precise liquid supply device and a liquid suction device corresponding to the working position of the centrifugal device;

The suction loading and unloading system includes a semen bottle supply device, a test tube supply device to be loaded, an unloaded test tube conveying device, and a suction loading and unloading robotic arm running along the suction loading and unloading track. Quantitatively suction into the test tube to be loaded, and transport the test tube to be loaded to the station of the centrifuge device, or transport the centrifuged test tube to the unloaded test tube conveying device;

The precise liquid supply device is used to quantitatively inject liquid into the test tube to be loaded;

The aspiration device is used to aspirate the supernatant from a preset height in the test tube.

In a preferred solution, a semen bottle code reading device is provided on one side of the semen bottle supply device, and a loading test tube code reading device is provided on one side of the test tube supply device to be loaded, so as to keep the semen bottle and the test tube to be loaded. correspond.

In a preferred solution, a suction device supply device is also provided, and the suction device supply device is provided with a suction device push cylinder for installing the suction device on the suction loading and unloading mechanical arm;

The suction loading and unloading track is covered over one station of the suction device supply device, the semen bottle supply device, the test tube supply device to be loaded, the unloaded test tube transport device and the centrifuge device, so that the suction loading and unloading robot arm can perform suction and Loading and unloading of test tubes;

The suction device includes a suction rod and a suction sleeve, the suction rod is slidably and sealedly installed in the suction sleeve, and the end of the suction rod located in the suction sleeve is provided with a suction piston head.

In a preferred solution, a walking drive device is provided between the suction loading and unloading mechanical arm and the suction loading and unloading track, so that the suction loading and unloading mechanical arm travels along the suction loading and unloading track;

The suction manipulator base of the suction loading and unloading manipulator is arranged vertically, and the suction manipulator base is provided with an upper suction slider and a lower suction slider that are driven by the driving device and move vertically. The upper suction slider is provided with an upper suction positioning block for clamping the end of the suction rod, and the lower suction slider is provided with a lower suction positioning block for clamping the suction sleeve;

There is also a suction device wedge to separate the suction device from the suction loading and unloading mechanical arm through the suction device wedge, or a push mechanism is provided on at least one of the upper suction slider and the lower suction slider , to separate the suction device from the suction loading and unloading mechanical arm by pushing;

A grasping mechanical claw for grasping the test tube is also provided under the lower suction slider.

In a preferred solution, the suction device supply device, the semen bottle supply device, the test tube supply device to be loaded, and the unloaded test tube conveying device are arranged in a straight line and sequentially;

In order to make the suction loading and unloading robot arm install the suction device on the suction device supply device, the semen bottle supply device extracts quantitative semen through the relative movement between the upper suction slider and the lower suction slider, and the test tube supply device to be loaded Inject the semen into the test tube to be loaded, grab the test tube to be loaded by the grasping mechanical claw in the test tube supply device to be loaded, put down or grab the test tube again at the corresponding station of the centrifuge device, and grab the unloaded test tube conveying device. The unloaded test tube is put down.

In a preferred solution, the driving devices of the upper suction slider and the lower suction slider include two sets of independently arranged screw nut mechanisms, rack and pinion mechanisms, belt drive mechanisms or linear motor mechanisms.

In a preferred solution, the structure of the suction device supply device is that it includes a suction device guide rail, a plurality of suction devices are arranged in the suction device guide rail, and a suction device friction for driving the suction device is also provided. Wheel, there is a suction device pushing notch on the side of the suction device guide rail facing the suction loading and unloading robot arm, and a suction device pushing cylinder is arranged on the other side, which is used to push a suction device out of the suction device pushing notch The end of the suction rod and the suction sleeve are respectively clamped on the upper suction positioning block and the lower suction positioning block of the suction loading and unloading mechanical arm.

In a preferred solution, the precise liquid supply device includes one or more syringes arranged near the centrifugal device, the syringes are connected with a screw nut mechanism to drive the syringes to supply liquid accurately, and the end of the syringe is connected with a liquid supply pipe , the outlet of the liquid supply pipe is located above a station of the centrifugal device.

In a preferred solution, the structure of the liquid suction device is that the liquid suction track is covered above one station of the centrifugal device, and the liquid suction robot arm is slidably installed above the liquid suction track and can walk along the liquid suction track; The vertical suction arm seat of the liquid manipulator is provided with a suction nut slider driven by a driving device, and a suction pump is arranged on the suction nut slider, and the inlet of the suction pump is lifted and lowered by the suction nut slider. connect or disconnect with the straw;

There is also a suction pipe supply device under the suction track, and the suction pipes are arranged in the suction pipe guide rail;

A suction pipe device is also arranged under the liquid suction track, and a suction pipe mechanical claw is arranged on the suction pipe device.

In a preferred solution, the structure of the test tube supply device to be loaded is that the test tube loading belt driven and rotated by the driving wheel is provided with a notch corresponding to the outer diameter of the test tube to be loaded, and a straw loading guide rail is provided on one side of the test tube loading belt;

The structure of the unloaded test tube conveying device is that the unloading belt driven and rotated by the driving wheel is provided with a notch corresponding to the outer diameter of the unloaded test tube, a suction pipe guide rail is provided on one side of the unloading belt, and the pipe unloading belt is provided on the side of the unloading belt. A capping device is provided above;

The structure of the capping device is that a plurality of test tube caps are placed in the test tube cap guide rail, one side of the test tube cap guide rail is provided with a test tube cap friction wheel, a capping cylinder is arranged above the test tube cap guide rail, and there is a gap below the test tube cap guide rail. .

The invention provides an intelligent semen optimization system, which can realize automatic proportioning of semen and liquid and realize automatic loading and unloading of test tubes by means of a suction loading and unloading system, a precise liquid supply device and a liquid suction device that cooperate with suction loading and unloading mechanical arms. , greatly improving efficiency. In a preferred solution, in the process of liquid preparation and suction of supernatant, each test tube can be replaced with a new suction device and suction tube, so as to avoid mixing of liquids in different test tubes. The provided semen bottle code reading device and the loading test tube code reading device can ensure that the test tube corresponds to the semen bottle one by one, and operation errors are avoided. The provided suction device has gentle handling, does not affect sperm motility, has a simple structure, is convenient for processing and production, and has low cost. The invention has fewer waste consumables and meets environmental protection requirements.

Description of drawings

Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:

FIG. 1 is a schematic top view of the overall structure of the present invention.

FIG. 2 is a schematic structural diagram of the suction device in the present invention.

FIG. 3 is a schematic structural diagram of the suction loading and unloading mechanical arm of the present invention.

FIG. 4 is a schematic diagram of the driving structure of the suction loading and unloading mechanical arm of the present invention.

FIG. 5 is a schematic structural diagram of the suction device supply device of the present invention.

6 is a schematic side view of the structure of the suction loading and unloading mechanical arm of the present invention.

FIG. 7 is a schematic three-dimensional structure diagram of the suction loading and unloading mechanical arm of the present invention.

FIG. 8 is a partial schematic view of the top-view structure of the test tube supply device to be loaded according to the present invention.

FIG. 9 is a schematic side view of the structure of the precise liquid supply device of the present invention.

FIG. 10 is a schematic structural diagram of the liquid suction robotic arm of the present invention.

FIG. 11 is a schematic structural diagram of the capping device of the present invention.

In the figure: centrifugal device 1, precise liquid supply device 2, syringe 201, liquid supply tube 202, base 203, tube positioning block 204, piston positioning nut slider 205, liquid supply screw 206, liquid supply motor 207, suction loading and unloading Track 3, synchronous belt 31, travel drive device 32, suction loading and unloading arm 4, suction arm seat 41, first suction motor 42, second suction motor 43, first suction screw 44, second suction Suction screw 45, upper suction nut slider 46, upper suction positioning block 461, lower suction nut slider 47, lower suction positioning block 471, grasping mechanical claw 48, suction pipe supply device 5, suction pipe 51, Pipette guide 52, pipette friction wheel 53, pipette track 6, pipette device 7, pipette gripper 71, pipette arm 8, pipette motor 81, pipette arm seat 82, pipette screw 83, suction pipe Liquid nut slider 84, suction pump 85, gland device 9, gland cylinder 91, test tube cover guide 92, test tube cover 93, test tube cover friction wheel 94, tube unloading belt 10, disinfection device 11, suction tube guide 12, waste Liquid container 13, unloaded test tube 14, take suction device wedge 15, chute 16, load test tube code reading device 17, load test tube belt 18, load pipette guide 19, test tube to be loaded 20, semen bottle code reading Device 21, semen bottle guide rail 22, semen bottle 23, bottle dial 24, suction device supply device 25, suction device push cylinder 251, suction device friction wheel 252, suction device guide rail 253, suction device push notch 254 , suction device 26 , suction rod expansion head 261 , suction sleeve expansion part 262 , suction rod 263 , suction sleeve 264 , suction piston head 265 , housing 27 .

Detailed ways

Example 1:

As shown in Figure 1, an intelligent semen optimization system includes a centrifugal device 1, and also includes a suction loading and unloading system corresponding to the workstation of the centrifugal device 1, a precise liquid supply device 2 and a liquid suction device;

The suction loading and unloading system includes a semen bottle supply device, a test tube supply device to be loaded, a unloaded test tube conveying device, and a suction loading and unloading mechanical arm 4 running along the suction loading and unloading track 3. The semen in 23 is quantitatively suctioned into the test tube 20 to be loaded, and the test tube 20 to be loaded is transported to the workstation of the centrifuge device 1, or the centrifuged test tube is transported to the unloaded test tube transport device;

The precise liquid supply device 2 is used to quantitatively inject liquid into the test tube 20 to be loaded;

The aspiration device is used to aspirate the supernatant from a preset height in the test tube. With this structure, the automatic proportioning of semen and liquid can be realized, and the test tube can be automatically put into the centrifuge device 1 and the test tube can be automatically taken out from the centrifuge device. Greatly improves the efficiency of semen washing optimization.

The preferred solution is as shown in Fig. 1, a semen bottle code reading device 21 is provided on one side of the semen bottle supply device, and a test tube code reading device 17 is provided on one side of the test tube supply device to be loaded, so that the semen bottle 23 corresponds to the test tube 20 to be loaded. The semen bottle code reading device 21 and the test tube code reading device 17 preferably both use laser code scanners, which are commercially available products. Preferably, continuous barcodes or two-dimensional codes are provided on the outer walls of the semen bottle 23 and the test tube 20 to be filled, so that the semen bottle 23 and the test tube 20 to be filled can be rotated to any position and can be read by the semen bottle code reading device 21 It is identified with the test tube code reading device 17, and if the identification fails, it will stop and alarm. After reading, the codes of the corresponding semen bottle 23 and the test tube 20 to be loaded are associated, and subsequent scanning of the barcode or two-dimensional code on the test tube can determine the relevant information of the owner of the semen bottle 23, thereby ensuring that no operational error occurs.

In a preferred solution, as shown in Figures 1, 2 and 5, a suction device supply device 25 is also provided. The suction device supply device 25 is provided with a suction device push cylinder 251, which is used to install the suction device 26 in the suction loading and unloading system. Robot arm 4;

The suction loading and unloading track 3 is covered above one station of the suction device supply device 25, the semen bottle supply device, the test tube supply device to be loaded, the unloaded test tube conveying device and the centrifuge device 1, so that the suction loading and unloading mechanical arm 4 can be The operation of suctioning and loading and unloading the test tube is performed; with this structure, a quantitative amount of semen is automatically suctioned into the test tube 20 to be loaded, and a suction device 26 can be automatically replaced for each operation.

As shown in FIG. 2 , the suction device 26 includes a suction rod 263 and a suction sleeve 264 , the suction rod 263 is slidably and sealedly installed in the suction sleeve 264 , and the suction rod 263 is located in the suction sleeve 264 The inner end is provided with a suction piston head 265 . In this example, preferably, the suction piston head 265 and the suction rod 263 are made of the same material, and the other end of the suction rod 263 is further provided with an enlarged suction rod head 261 for clamping. At the upper end of the suction sleeve 264, a suction sleeve enlarged portion 262 for clamping is provided.

The straight-through suction sleeve 264 structure is adopted, which simplifies the structure of the suction device compared with the traditional syringe, especially reduces the sharp change of the liquid flow speed during the suction process, and reduces the decrease of sperm motility caused by the instrument. Moreover, the further optimized structure also facilitates processing and production, and reduces the cost of the device.

In a preferred solution, as shown in FIG. 4, a traveling drive device 32 is provided between the suction loading and unloading mechanical arm 4 and the suction loading and unloading track 3, so that the suction loading and unloading mechanical arm 4 walks along the suction loading and unloading track 3; The walking driving device 32 in the example preferably adopts a synchronous belt drive structure, the two ends of the synchronous belt are fixedly installed on the suction loading and unloading track 3, the driving wheel is provided with a driven wheel on both sides, and the synchronous belt bypasses the driven wheel and the driving wheel, and the driving wheel Connected with the motor, the driven wheel and the driving wheel are both installed on the suction loading and unloading mechanical arm 4, and the suction loading and unloading mechanical arm 4 is realized by driving the rotation of the driving wheel. An alternative solution adopts a rack and pinion drive structure, wherein the rack is fixedly mounted on the suction loading and unloading track 3, the gear is mounted on the suction loading and unloading mechanical arm 4, and the gear is connected with the motor. Alternatively, a belt drive structure is adopted, the belt mechanism is installed on the suction loading and unloading track 3 , the belt mechanism is connected with the motor, and the belt is fixedly connected with the suction loading and unloading mechanical arm 4 .

As shown in Figures 3, 6 and 7, the suction manipulator base 41 of the suction loading and unloading manipulator 4 is arranged vertically, and the suction manipulator base 41 is provided with a vertically moving upper The suction slider and the lower suction slider are provided with an upper suction positioning block 461 for clamping the end of the suction rod 263 on the upper suction slider. The upper suction positioning block 461 is divided into two parts, as shown in the figure As shown in Fig. 7, it includes a limit piece against the top of the enlarged head 261 of the suction rod, and an open annular positioning block clamped on the suction rod 263, and the open annular positioning block is located below the enlarged head 261 of the suction rod, And the opening is slightly smaller than the outer diameter of the suction rod 263 . A lower suction positioning block 471 for clamping the suction sleeve 264 is provided on the lower suction slider; the lower suction positioning block 471 is divided into two parts, which are respectively an open ring located above and below the enlarged part 262 of the suction sleeve. A positioning block, wherein the opening of the lower open annular positioning block is slightly smaller than the outer diameter of the suction sleeve 264 . When the distance between the upper suction slider and the lower suction slider changes, even if the suction action between the suction rod 263 and the suction sleeve 264 is completed.

As shown in FIG. 1 , a suction device wedge 15 is also provided to separate the suction device 26 from the suction loading and unloading mechanical arm 4 through the suction device wedge 15 . The suction device wedge 15 is preferably located at the position to be installed. Between the test tube supply device and the unloaded test tube transport device, the structure is similar to a hook, and it is highly preferred to be located between the upper suction slider and the lower suction slider, by taking the suction device wedge 15 used suction device 26 is unloaded, falls into the lower chute 16, and is collected and processed uniformly.

In another optional solution, at least one of the upper suction slider and the lower suction slider is provided with a push mechanism, so as to separate the suction device 26 from the suction loading and unloading mechanical arm 4 by pushing; the push mechanism is preferably An electromagnet is used to eject the suction device 26 from the split ring block.

As shown in FIG. 7 , a grasping mechanical claw 48 for grasping the test tube is further provided under the lower suction slider. The grasping mechanical claw 48 adopts an electromagnet drive structure, which is the prior art.

In a preferred solution, as shown in FIG. 1, the suction device supply device 25, the semen bottle supply device, the test tube supply device to be loaded, and the unloaded test tube conveying device are arranged in a straight line in sequence; this structure can simplify the suction loading and unloading mechanical arm 4 structure, that is, there is no need to set the movement direction of the Y-axis, which reduces the cost and improves the control accuracy.

The above-mentioned structure allows the suction loading and unloading robot arm 4 to install the suction device 26 on the suction device supply device 25, and to extract quantitative semen in the semen bottle supply device through the relative motion between the upper suction slider and the lower suction slider. , inject the semen into the test tube 20 to be loaded in the test tube supply device to be loaded, grab the test tube 20 to be loaded by grabbing the mechanical claw 48 in the test tube supply device to be loaded, put down or grab the test tube again at the corresponding station of the centrifuge device 1 , the unloaded test tube 14 will be put down by the unloaded test tube conveying device. More specific steps are described further below.

The preferred solution is shown in Figures 3 and 7. The driving devices of the upper suction slider and the lower suction slider include two sets of independently arranged screw nut mechanisms, rack and pinion mechanisms, belt drive mechanisms or linear motors. mechanism. In this example, the solution of the screw nut mechanism is adopted, and the first suction screw 44 and the second suction screw 45 are parallel to each other on the suction arm base 41, and the first suction motor 42 and the first suction The suction screw 44 is connected, the second suction motor 43 is connected with the second suction screw 45, the upper suction nut slider 46 is threadedly connected with the second suction screw 45, and the lower suction nut slider 47 is connected with the second suction screw 45. A suction screw 44 is threadedly connected. The upper suction nut slider 46 and the lower suction nut slider 47 rise and fall at the same time to realize the lifting action of the suction device 26, and the distance between the upper suction nut slider 46 and the lower suction nut slider 47 changes to realize the suction The suction action of the suction device 26 .

In a preferred solution, as shown in FIG. 5, the structure of the suction device supply device 25 is that it includes a suction device guide rail 253, and a plurality of suction devices 26 are arranged in the suction device guide rail 253. Preferably, the suction device The tail of the upper end of the guide rail 253 is bent upward, so that the suction device 26 in it is concentrated downward under the action of gravity, and a suction device friction wheel 252 for driving the suction device 26 is also provided, and the suction device friction wheel 252 is used. The structure makes each suction device 26 close to each other, and a suction device push gap 254 is provided on the side of the suction device guide rail 253 facing the suction loading and unloading mechanical arm 4, and a flexible baffle is provided at the position of the gap, and on the other side One side is provided with a suction device push cylinder 251, which is used to push a suction device 26 out of the suction device push notch 254 and to make the end of the suction rod 263 and the suction sleeve 264 be stuck on the suction loading and unloading mechanical arm 4 respectively. on the upper suction positioning block 461 and the lower suction positioning block 471. Due to the action of the friction wheel 252 of the suction device, there must be a suction device 26 at the position where the suction device pushes the notch 254 .

In a preferred solution, as shown in Figures 1 and 9, the precise liquid supply device 2 includes one or more syringes 201 arranged near the centrifugal device 1, and the syringes 201 are connected with the screw nut mechanism to drive the syringe 201 to supply liquid accurately, The end of the syringe 201 is connected with a liquid supply pipe 202 , and the outlet of the liquid supply pipe 202 is located above one station of the centrifugal device 1 . As shown in FIG. 9, the base 203 is provided with a liquid supply screw 206, a liquid supply screw 206 and a liquid supply motor 207 to drive the liquid supply screw 206 to rotate, and a tube positioning block 204 is also provided on the base 203 for The sleeve of the syringe 201 is positioned, the piston positioning nut slider 205 is threadedly connected with the liquid supply screw rod 206, and the piston positioning nut slider 205 is also connected with the piston rod of the syringe 201 to drive the syringe 201 to supply liquid accurately. Generally, the length of the liquid supply pipe 202 should be as short as possible to ensure the accuracy of the liquid supply.

The preferred solution is as shown in FIG. 1 , the structure of the liquid suction device is that the liquid suction track 6 is covered above one station of the centrifuge device 1 , and the liquid suction robot arm 8 is slidably installed above the liquid suction track 6 and can move along the liquid suction track 6 . The vertical suction arm seat 82 of the suction arm 8 is provided with a suction nut slider 84 driven by the driving device, and the suction nut slider 84 is provided with a suction pump 85. The inlet of the suction pump 85 is connected or disconnected from the suction pipe 51 through the lifting and lowering of the suction nut slider 84;

There is also a suction pipe supply device 5 below the suction rail 6, and the suction pipe 51 is arranged in the suction pipe guide rail 52;

Below the liquid suction track 6 is further provided a suction pipe device 7 , and the suction pipe device 7 is provided with a suction pipe mechanical claw 71 . With the above-mentioned structure, the supernatant in the test tube is automatically suctioned, and the suction tube 51 is automatically replaced every time the suction is performed.

In the preferred solution, as shown in Figures 1 and 8, the structure of the supply device for test tubes to be loaded is that the test tube loading belt 18 driven and rotated by the driving wheel is provided with a notch corresponding to the outer diameter of the test tubes 20 to be loaded. One side is provided with a guide rail 19 for loading straws; the belt 18 for loading tubes is driven to move in the guide rail 19 for loading straws through the rotation of the belt 18 for loading tubes. The test tube loading belt 18 is preferably driven by a stepping motor.

As shown in FIG. 1 , the structure of the unloaded test tube conveying device is that the unloading belt 10 driven and rotated by the driving pulley is provided with a notch corresponding to the outer diameter of the unloaded test tube 14, and one side of the unloading belt 10 is provided with a notch. There is a straw guide rail 12, and a capping device 9 is provided above the pipe unloading belt 10; the pipe unloading belt 10 is preferably driven by a stepping motor.

As shown in FIG. 11 , the structure of the capping device 9 is that a plurality of test tube caps 93 are placed in the test tube cover guide rail 92 , a test tube cover friction wheel 94 is provided on one side of the test tube cover guide rail 92 , and a test tube cover guide rail 92 is provided above. Capping cylinder 91 and test tube cover guide rail 92 are provided with a gap below.

Example 2:

The use method of the present invention will be described by taking the density gradient centrifugation + upstream method as an example.

As shown in Figures 1 to 11, the three syringes 201 of the precise liquid supply device 2 are respectively filled with density gradient centrifuge, centrifuge and upstream fluid, and the density gradient centrifuge and upstream fluid are commonly used in semen washing optimization in the prior art of liquid. The precise liquid supply device 2 is located at a station of the centrifugal device 1, the suction robotic arm 8 is located at a station of the centrifugal device 1, and the suction loading and unloading mechanical arm 4 is located at a station of the centrifugal device 1, occupying a total of Three workstations. The station here refers to the position of the test tube when the centrifugal device 1 stops rotating. Set the position of the test tube when the centrifugal device 1 stops. As shown in Figure 1, the centrifugal device 1 can centrifuge 4 test tubes at the same time, then it can provide 4 test tubes when it stops. Work stations, there are also 5~16 test tubes, in principle, more work stations can be provided. In order to process multiple semen at the same time.

Put the sterilized suction device 26 into the suction device guide rail 253 of the suction device supply device 25, load the test tube 20 to be loaded into the suction tube loading guide rail 19, and load the suction tube 51 into the suction tube supply device 5. , after checking, put multiple semen bottles 23 into the guide rail 22 of the semen bottles. After checking again, start the device.

The suction loading and unloading mechanical arm 4 moves to the rightmost end of the suction loading and unloading track 3, so that the heights of the upper suction nut slider 46 and the lower suction nut slider 47 are located at the preset positions, and the suction device pushes the cylinder 251 to move, A suction device 26 is pushed onto the suction loading and unloading mechanical arm 4 and is securely fixed on the upper suction positioning block 461 and the lower suction positioning block 471 . At the same time, the semen bottle code reading device 21 scans the current semen bottle 23, reads the encoded information, and loads the test tube code reading device 17 to scan the current test tube 20 to be loaded, reads the encoded information, and associates the two encoded information. The suction loading and unloading robotic arm 4 moves to the top of the current semen bottle 23, and the upper suction nut slider 46 and the lower suction nut slider 47 are lowered simultaneously until the bottom of the suction sleeve 264 is close to the bottom of the sperm bottle 23, and the upper suction nut slider 46 and the lower suction nut slider 47 are lowered simultaneously. The suction nut slider 46 moves up a preset distance to extract 3ml of semen. The upper suction nut slider 46 and the lower suction nut slider 47 are raised at the same time, and the suction device 26 is separated from the semen bottle 23 . The suction loading and unloading robotic arm 4 moves above the test tube 20 currently to be loaded, the upper suction nut slider 46 runs downward, and the semen is injected into the current test tube 20 to be loaded. The suction loading and unloading mechanical arm 4 moves to the position where the wedge 15 of the suction device is taken out, or the pushing device acts to disengage the suction device 26 from the suction loading and unloading mechanical arm 4, and the suction device 26 falls into the chute 16. unified processing. The suction loading and unloading robotic arm 4 moves again above the test tube 20 currently to be loaded, the lower suction nut slider 47 moves downward, the grasping mechanical claw 48 grabs the current loading and unloading test tube 20, and the suction loading and unloading robotic arm 4 moves to the centrifuge. Above the station of the device 1 , the test tube 20 to be loaded is put into the centrifuge device 1 , and the centrifuge device 1 is rotated at an angle so that the other station is located under the suction loading and unloading mechanical arm 4 . The above steps are repeated to fill all the test tubes 20 to be filled in the centrifuge device 1 . During the process of loading the test tube 20 to be loaded, when the existing test tube 20 to be loaded passes under the precise liquid supply device 2, the liquid supply motor 207 operates. Preferably, the liquid supply motor 207 is a stepper motor. , and 9 ml of the density gradient centrifugation solution was put into the test tube 20 to be loaded. After the test tube 20 to be loaded is loaded, the turret of the centrifuge device 1 is swayed back and forth at a small angle to mix the liquid in the test tube 20 to be loaded evenly. Centrifuge at 1000 rpm for 20 min. The speed and centrifugation time are optional. The suction manipulator 8 runs to the top of the suction pipe supply device 5, the suction nut slider 84 is lowered, the inlet of the suction pump 85 is inserted into a suction pipe 51, the suction nut slider 84 is raised, and the suction pipe 51 is removed from the suction pipe. The guide rail 52 is taken away, the liquid suction robotic arm 8 runs to the top of the centrifugal device 1, the liquid suction nut slider 84 is lowered to a preset height, and is located in the test tube, and the liquid suction pump 85 is started to suck the supernatant and discharge it through the pipeline. In the waste liquid container 13, the suction pump 85 is preferably a peristaltic pump, which is convenient to replace the fitting pipeline after working for a period of time. After aspirating a test tube. The suction manipulator 8 moves to the top of the suction pipe device 7, the suction manipulator 8 descends to a certain height, the suction manipulator 71 acts to clamp the suction pipe 51, the suction manipulator 8 rises to a certain height, and the suction pipe 51 and the suction pump The import of 85 is detached. The suction pipe mechanical claw 71 is opened, and the suction pipe 51 is dropped and processed centrally. The pipetting robotic arm 8 runs again to the top of the pipette supply device 5 to take a pipette 51 and suck the supernatant in the next test tube. And so on, until the supernatant aspiration of all tubes is completed. In the process of changing stations, the precise liquid supply device 2 adds 9 ml of centrifugation fluid to the sucked test tube again, and centrifuges at 1000 rpm for 10 min. The supernatant was sucked again, and the turret of the centrifuge device 1 was swung back and forth at a high speed and at a small angle to oscillate for precipitation. Precise Liquid Supply 2 adds upstream liquid to each test tube. The suction loading and unloading mechanical arm 4 moves to the top of the centrifugal device 1, the suction loading and unloading mechanical arm 4 is lowered, and the grasping mechanical claw 48 grasps the test tube to the unloaded test tube conveying device. The tube unloading belt 10 is turned at an angle to make a new empty space until all the tubes are caught on the unloaded tube transporter. When the unloaded test tube 14 passes under the capping device 9 , information is collected by a photoelectric sensor arranged on one side of the pipette guide 12 . The capping cylinder 91 of the capping device 9 is actuated, and the test tube cap 93 is pressed against the removed test tube 14 . After all washing optimization is completed, the alarm reminds the operator to continue processing. After all the samples are taken out, the sterilizing device 11 is activated to sterilize the space in the housing 27 .

Example 3:

The use method of the present invention will be described by taking the direct centrifugation + upstream method as an example.

The difference from Embodiment 2 is that the centrifugal liquid and the upstream liquid are respectively charged into the two syringes 201 of the precise liquid supply device 2 . After adding semen and centrifuge, centrifuge at 1000 rpm for 20 min. The centrifugation time is optional. The suction robotic arm 8 moves to suck up the supernatant, and the turret of the centrifuge device 1 swings back and forth at a high speed and a small angle to shake the sediment. Precise Liquid Supply 2 adds upstream liquid to each test tube. The rest of the steps are the same as in Example 2.

The above-mentioned embodiments are only the preferred technical solutions of the present invention, and should not be regarded as limitations of the present invention. The embodiments and features in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention shall take the technical solutions described in the claims, including the equivalent alternatives of the technical features in the technical solutions described in the claims, as the protection scope. That is, equivalent replacements and improvements within this scope are also within the protection scope of the present invention.

Claims (10)

1. The utility model provides an intelligence seminal fluid optimizing system, includes centrifugal device (1), characterized by: the device also comprises a suction loading and unloading system, an accurate liquid supply device (2) and a liquid suction device which correspond to the stations of the centrifugal device (1);

the suction handling system comprises a semen bottle supply device, a to-be-loaded test tube supply device, a unloaded test tube conveying device and a suction handling mechanical arm (4) running along a suction handling track (3), wherein the suction handling mechanical arm (4) is used for quantitatively sucking semen in a semen bottle (23) into a to-be-loaded test tube (20) and conveying the to-be-loaded test tube (20) to a station of the centrifugal device (1) or conveying the centrifuged test tube to the unloaded test tube conveying device;

the accurate liquid supply device (2) is used for injecting liquid into the test tube (20) to be filled in a fixed amount;

the liquid suction device is used for sucking out the supernatant liquid from a preset height in the test tube.

2. The intelligent semen optimization system of claim 1, wherein: a semen bottle code reading device (21) is arranged at one side of the semen bottle supply device, and a loading test tube code reading device (17) is arranged at one side of the to-be-loaded test tube supply device, so that a semen bottle (23) is kept corresponding to a to-be-loaded test tube (20).

3. The intelligent semen optimization system of claim 1, wherein: a suction device supply device (25) is further arranged, a suction device pushing cylinder (251) is arranged in the suction device supply device (25) and is used for installing a suction device (26) on the suction loading and unloading mechanical arm (4);

the suction loading and unloading track (3) is covered above one station of the suction device supply device (25), the semen bottle supply device, the test tube supply device to be loaded, the unloaded test tube conveying device and the centrifugal device (1) so as to enable the suction loading and unloading mechanical arm (4) to perform suction and test tube loading and unloading operations;

the suction device (26) comprises a suction rod (263) and a suction sleeve (264), the suction rod (263) is installed in the suction sleeve (264) in a sliding and sealing mode, and a suction piston head (265) is arranged at the end, located in the suction sleeve (264), of the suction rod (263).

4. The intelligent semen optimization system of claim 3, wherein: a traveling driving device (32) is arranged between the suction loading and unloading mechanical arm (4) and the suction loading and unloading track (3) so that the suction loading and unloading mechanical arm (4) travels along the suction loading and unloading track (3);

a suction mechanical arm seat (41) of the suction loading and unloading mechanical arm (4) is vertically arranged, an upper suction sliding block and a lower suction sliding block which are driven by a driving device and move vertically are arranged on the suction mechanical arm seat (41), an upper suction positioning block (461) for clamping the end of a suction rod (263) is arranged on the upper suction sliding block, and a lower suction positioning block (471) for clamping a suction sleeve (264) is arranged on the lower suction sliding block;

a suction device wedge block (15) is also arranged, so that the suction device (26) is separated from the suction loading and unloading mechanical arm (4) through the suction device wedge block (15), or a pushing mechanism is arranged on at least one of the upper suction slide block and the lower suction slide block, so that the suction device (26) is separated from the suction loading and unloading mechanical arm (4) through pushing;

and a gripping mechanical claw (48) for gripping the test tube is arranged below the lower suction slide block.

5. The intelligent semen optimization system of claim 4, wherein: the suction device supply device (25), the semen bottle supply device, the test tube supply device to be loaded and the unloaded test tube conveying device are sequentially arranged in a straight line;

so that the suction handling robot (4) mounts a suction device (26) on a suction device supply device (25) where a fixed amount of semen is sucked by the relative movement between the upper suction slider and the lower suction slider, injects the semen into the test tube (20) to be loaded at the test tube supply device, grips the test tube (20) to be loaded at the test tube supply device by a gripping gripper (48), drops or again grips the test tube at a corresponding station of the centrifuge (1), and drops the gripped dropped test tube (14) at the dropped test tube transport device.

6. The intelligent semen optimization system according to any one of claims 4 or 5, wherein: the driving device of the upper suction sliding block and the lower suction sliding block comprises two groups of screw nut mechanisms, gear rack mechanisms, belt driving mechanisms or linear motor mechanisms which are independently arranged.

7. The intelligent semen optimization system of claim 4, wherein: the suction device supply device (25) is structurally characterized by comprising a suction device guide rail (253), a plurality of suction devices (26) are arranged in the suction device guide rail (253), a suction device friction wheel (252) used for driving the suction devices (26) is further arranged, a suction device pushing notch (254) is arranged on one side, facing a suction loading and unloading mechanical arm (4), of the suction device guide rail (253), and a suction device pushing cylinder (251) is arranged on the other side and used for pushing one suction device (26) out of the suction device pushing notch (254) and enabling the end of a suction rod (263) and a suction sleeve (264) to be clamped on an upper suction positioning block (461) and a lower suction positioning block (471) of the suction loading and unloading mechanical arm (4) respectively.

8. The intelligent semen optimization system of claim 1, wherein: the accurate liquid supply device (2) comprises one or more injectors (201) arranged near the centrifugal device (1), the injectors (201) are connected with a lead screw nut mechanism to drive the injectors (201) to accurately supply liquid, the ends of the injectors (201) are connected with a liquid supply pipe (202), and the outlet of the liquid supply pipe (202) is positioned above one station of the centrifugal device (1).

9. The intelligent semen optimization system of claim 1, wherein: the structure of the liquid suction device is that a liquid suction rail (6) covers above one station of the centrifugal device (1), and a liquid suction mechanical arm (8) is slidably arranged above the liquid suction rail (6) and can walk along the liquid suction rail (6); a vertical liquid suction mechanical arm seat (82) of the liquid suction mechanical arm (8) is provided with a liquid suction nut sliding block (84) driven by a driving device, a liquid suction pump (85) is arranged on the liquid suction nut sliding block (84), and an inlet of the liquid suction pump (85) is connected with or separated from a suction pipe (51) through the lifting of the liquid suction nut sliding block (84);

a straw supply device (5) is arranged below the liquid suction rail (6), and straws (51) are arranged in a straw guide rail (52);

a straw taking device (7) is arranged below the liquid suction rail (6), and a straw taking mechanical claw (71) is arranged on the straw taking device (7).

10. The intelligent semen optimization system of claim 1, wherein: the structure of the device for supplying the test tubes to be loaded is that a gap corresponding to the outer diameter of the test tube (20) to be loaded is arranged on a test tube loading belt (18) driven by a driving wheel to rotate, and a guide rail (19) for loading a suction tube is arranged on one side of the test tube loading belt (18);

the structure of the unloaded test tube conveying device is that a tube unloading belt (10) driven by a driving wheel to rotate is provided with a notch corresponding to the outer diameter of the unloaded test tube (14), a suction tube guide rail (12) is arranged on one side of the tube unloading belt (10), and a gland device (9) is arranged above the tube unloading belt (10);

the structure of capping device (9) does, and in test tube lid guide rail (92) was arranged in to a plurality of test tube lids (93), one side of test tube lid guide rail (92) was equipped with test tube lid friction pulley (94), was equipped with gland cylinder (91) in the top of test tube lid guide rail (92), and test tube lid guide rail (92) below is equipped with the breach.

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